Dynamics of biped robots during a complete gait cycle

Hayder Al-Shuka

ISBN 10: 6139912563 / ISBN 13: 9786139912568

Published by LAP LAMBERT Academic Publishing, 2018

About this Item

nach der Bestellung gedruckt Neuware - Printed after ordering - The aim of this book is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion. They could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-of freedom (DOFs) robotic systems (larger than six DOFs).

Seller Inventory # 9786139912568

Bibliographic Details

• Title: Dynamics of biped robots during a complete gait cycle
• Publisher: LAP LAMBERT Academic Publishing
• Publication Date: 2018
• Language: English
• ISBN 10: 6139912563
• ISBN 13: 9786139912568
• Binding: Taschenbuch
• Condition: Neu
• Dimensions: 220W x 150H x 4D millimeters 220 millimeters width by 150 millimeters height by 4 millimeters depth
• Weight: 96 grams

About this title

Synopsis

The aim of this book is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion. They could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-of freedom (DOFs) robotic systems (larger than six DOFs).